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| author | px4dev <px4@purgatory.org> | 2012-08-15 00:46:15 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2012-08-15 00:46:15 -0700 |
| commit | 5198a9daf798089b4f6f2112029260f614cf7702 (patch) | |
| tree | 97040f964cc58ac4f86c65b02f8eea973c3448d4 /ROMFS | |
| parent | 3edd6c86f20a768eee049fa2e9410c32bb13c382 (diff) | |
| download | px4-firmware-5198a9daf798089b4f6f2112029260f614cf7702.tar.gz px4-firmware-5198a9daf798089b4f6f2112029260f614cf7702.tar.bz2 px4-firmware-5198a9daf798089b4f6f2112029260f614cf7702.zip | |
New multirotor mixer; builds, not yet tested.
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/mixers/FMU_multirotor.mix | 23 | ||||
| -rw-r--r-- | ROMFS/mixers/README | 28 |
2 files changed, 30 insertions, 21 deletions
diff --git a/ROMFS/mixers/FMU_multirotor.mix b/ROMFS/mixers/FMU_multirotor.mix index 362cfdbdf..285a40e1a 100644 --- a/ROMFS/mixers/FMU_multirotor.mix +++ b/ROMFS/mixers/FMU_multirotor.mix @@ -1,24 +1,7 @@ Multirotor mixer for PX4FMU =========================== -This file defines passthrough mixers suitable for driving ESCs over the full -input range. - -Channel group 0, channels 0-3 values 0.0 - 1.0 are scaled to the full output range. - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 0 0 20000 -10000 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 1 0 20000 -10000 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 2 0 20000 -10000 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 3 0 20000 -10000 -10000 10000 +This file defines a single mixer for a quadrotor in the X configuration, with 10% contribution from +roll and pitch and 20% contribution from yaw and no deadband. +R: 4x 1000 1000 2000 0 diff --git a/ROMFS/mixers/README b/ROMFS/mixers/README index 3c740e37a..6649c53c2 100644 --- a/ROMFS/mixers/README +++ b/ROMFS/mixers/README @@ -125,4 +125,30 @@ operations, the values stored in the definition file are scaled by a factor of Multirotor Mixer ................ -The multirotor mixer is not yet defined. +The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust) +into a set of actuator outputs intended to drive motor speed controllers. + +The mixer definition is a single line of the form: + +R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband> + +The supported geometries include: + + 4x - quadrotor in X configuration + 4+ - quadrotor in + configuration + 6x - hexcopter in X configuration + 6+ - hexcopter in + configuration + 8x - octocopter in X configuration + 8+ - octocopter in + configuration + +Each of the roll, pitch and yaw scale values determine scaling of the roll, +pitch and yaw controls relative to the thrust control. Whilst the calculations +are performed as floating-point operations, the values stored in the definition +file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000. + +Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the +thrust input ranges from 0.0 to 1.0. Output for each actuator is in the +range -1.0 to 1.0. + +In the case where an actuator saturates, all actuator values are rescaled so that +the saturating actuator is limited to 1.0. |